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package edu.wpi.first.wpilibj.templates.commands;

import edu.wpi.first.wpilibj.templates.subsystems.DaisyWristSubsystem.PresetWristPosition;

/**
 *
 * @author Jarrod Risley
 */
public class SetWristState extends CommandBase {
    
    /*
     * Global Class Variables
     */
    
    public SetWristState() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
        requires(intake);
    } // end SetWristState

    // Called just before this Command runs the first time
    protected void initialize() {
        // If we need something to go here, put it HITHAH!
    } // end initialize

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        
        if (mainArm.getLocation() >= 170 && mainArm.getLocation() <= 300)
            intake.setWristPosition(PresetWristPosition.MIDDLE_POSITION);
        else if (mainArm.getLocation() < 300)
            intake.setWristPosition(PresetWristPosition.RAISED_POSITION);
        else
            intake.setWristPosition(PresetWristPosition.INGEST_POSITION);
        
    } // end execute

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    } // end isFinished

    // Called once after isFinished returns true
    protected void end() {
    } // end end...lolz

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    } // end interrupted
    
} // end SetWristState
